Abstract
This paper provides theoretical foundation for the problem of localization in multi-robot formations. Sufficient and necessary conditions for completely localizing a formation of mobile robots/vehicles in SE(2) based on distributed sensor networks and graph rigidity are proposed. A method for estimating the quality of localizations via a linearized weighted least-squares algorithm is presented, which considers incomplete and noisy sensory information. The approach in this paper had been implemented in a multi-robot system of five car-like robots equipped with omni-directional cameras and IEEE 802.11b wireless network.
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Zhang, F. Graph rigidity and localization of multi-robot formations. J. Zheijang Univ.-Sci. 5, 558–566 (2004). https://doi.org/10.1631/jzus.2004.0558
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DOI: https://doi.org/10.1631/jzus.2004.0558